Andrew Beathard

2 accepted papers

2023

A Visibility-Based Escort Problem

Lance G. Fletcher, Priyankari Perali, Andrew Beathard, Jason M. O'Kane

IROS 2023poster

This paper introduces and solves a visibility-based escort planning problem. This novel problem, which is closely related to the well-researched family of visibility-based pursuit-evasion problems in robotics, entails an escort agent tasked with escorting a vulnerable agent, called the VIP, in a 2-d…

Cited by 3 Source ↗Scholar ↗

2023

BO-ICP: Initialization of Iterative Closest Point Based on Bayesian Optimization

Harel Biggie, Andrew Beathard, Christoffer Heckman

ICRA 2023poster

Typical algorithms for point cloud registration such as Iterative Closest Point (ICP) require a favorable initial transform estimate between two point clouds in order to perform a successful registration. State-of-the-art methods for choosing this starting condition rely on stochastic sampling or gl…

Cited by 4 Source ↗code ↗Scholar ↗